JP2015027909A - Automatic bucket expanding device for aerial work platform vehicle and aerial work platform vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an aerial work platform vehicle capable of performing initial operation of a bucket easily, safely, and quickly in the aerial work platform vehicle of a type with the bucket stored in the back, and an automatic bucket expanding device for the aerial work platform vehicle.SOLUTION: A control unit 28 includes a normal mode for outputting a general operation signal corresponding to a command by a command signal and a special mode for outputting a special operation signal that is unrelated to the command by the command signal. The special mode is performed in the case where a telescopic boom 15 is in a stored position when an operation part 40 sends the command signal, and the special operation signal raises the telescopic boom 15 from the stored position to a prescribed raised angle and swings a bucket 13 until a relative angle becomes 0°.

Description

  The present invention relates to an aerial work vehicle, and more specifically to an apparatus for deploying a bucket of an aerial work vehicle.

  In general, an aerial work vehicle is provided with a telescopic boom, and this boom is supported by a swivel mounted on the vehicle so as to be raised and lowered. Further, a bucket on which an operator gets on the tip of the boom is usually provided. Although the position and posture of the bucket changes as the boom is raised and lowered during operation, the leveling device or bucket that normally keeps the bucket in a horizontal posture is recommended for the work to proceed safely and smoothly. There is provided a swing device that rotates relative to the rotation device.

  The boom and bucket are stored compactly on the vehicle when no work is performed. The manner of storing the boom and bucket varies depending on the model. For example, in an aerial work vehicle of a type in which a swivel is arranged immediately after a cabin and a bucket is arranged at the rear of the vehicle during storage (rear storage type), the boom is fully reduced and laid down and placed on a boom rest At the same time, the bucket is swung and placed on the side of the boom.

  In this type of aerial work vehicle, the boom is slightly raised in advance and separated from the boom rest, and the bucket is swung so that the relative angle with respect to the boom is 0 ° (degree). (Hereinafter, this operation is appropriately referred to as “initial operation” in this specification.) This “relative angle is 0 °” means that the bucket is disposed along the longitudinal direction of the boom. Of course, expansion and contraction of the boom and swing of the bucket can be permitted without the initial operation being performed, but in order to ensure safety of the work, the initial operation should be performed, and there is also a technology for automatically performing this initial operation. It has been proposed (see, for example, Patent Document 1).

JP-A-6-7472

  Patent Document 1 discloses a bucket automatic deployment device of a type in which a bucket is provided at the tip of a ladder, and this bucket is disposed above a cabin in front of the vehicle. In the initial operation in this case, the worker cannot get on the bucket, and therefore it is not necessary to consider the safety of the worker during the initial operation. That is, no particular safety problem arises for the worker regardless of the behavior of the bucket during the initial operation.

  However, in the case of the above-described rear storage type, since the worker is usually on the bucket even during the initial operation, the initial operation must be performed while ensuring the safety of the worker.

  The present invention has been made based on such a background, and an object of the present invention is to provide a high place where the initial operation of the bucket can be easily, safely and quickly performed in a high place working vehicle of a rear storage commission type. It is an object to provide a bucket automatic deployment device for a work vehicle and an aerial work vehicle.

  (1) A bucket automatic unfolding device for an aerial work vehicle according to the present invention includes a telescopic boom mounted on a swivel mounted on the front side of a vehicle and a telescopic boom, and is pivotally supported by a tip portion of the boom. A bucket capable of swinging within a range of a predetermined relative angle with respect to the boom, and the boom is placed on a boom rest provided in the vehicle when not working, and the tip of the boom is The present invention is applied to an aerial work vehicle that is located on the vehicle rear side and has a retracted posture in which the bucket swings to the side of the boom. The apparatus includes an operation unit that outputs a command signal for turning, raising and lowering and extending and retracting the boom, and a control unit that outputs a signal for operating the boom based on the command signal. The control unit has a normal mode for outputting a general operation signal corresponding to the command by the command signal and a special mode for outputting a special operation signal unrelated to the command by the command signal. The special mode is performed when the boom is in the retracted posture when the operation unit issues the command signal, and the special operation signal raises the boom from the retracted posture to a predetermined standing angle. The bucket is swung until the relative angle becomes 0 °.

  According to this configuration, when the control unit is operating in the normal mode, when the operation unit outputs a command signal, a general operation signal corresponding to the command signal is output from the control unit. Based on this general operation signal, the boom is raised and lowered, expanded or contracted, or turned together with the turntable. Also, at the start of work, that is, when the boom is fully reduced, laid down and placed on the boom rest, and the relative angle of the bucket to the boom is not 0 °, regardless of the type of the command signal A special operation signal is output from the control unit. Based on the special operation signal, the boom is raised to a predetermined standing angle, and the bucket is swung until the relative angle becomes 0 °. In this specification, such a posture of the bucket is referred to as a “work basic posture”. That is, when a command signal is output from the operation unit at the start of work, the bucket is automatically deployed to the basic work posture.

  (2) The bucket automatic deployment device includes a full reduction detection sensor that detects that the boom is in a full reduction state, a storage detection sensor that detects that the boom is placed on the boom rest, and An angle detection sensor for detecting a relative angle of the bucket with respect to the boom, and determining that the retracted posture is based on output signals of the full reduction detection sensor, the storage detection sensor, and the angle detection sensor. preferable.

  Each of the above-described sensors is required when the aerial work vehicle safely operates the boom and the bucket, and is not a sensor dedicated to the bucket automatic deployment device. Therefore, there is an advantage that the automatic deployment operation of the bucket is controlled using the existing sensor.

  (3) It is preferable that the special mode is implemented when the operation unit issues a command signal for raising the boom.

  In this case, the initial operation is not started unless the operator operates the operation unit with the intention of starting the initial operation. Therefore, the bucket does not operate unexpectedly for the operator, and a safer initial operation is possible.

  (4) Even when the command signal from the operation unit is interrupted when the control unit is operated in the special mode, the control unit is configured to output the special operation signal. Is preferred.

  In this configuration, once the control unit operates in the special mode, the initial operation is completed without the operator continuing to operate the operation unit thereafter. Therefore, the operator can concentrate on stabilizing his / her posture during the initial operation, and an even safer initial operation is performed.

  (5) An aerial work vehicle according to the present invention has a swivel mounted on the front side of the vehicle, a front end and a base end, and the base end is rotatably connected to the swivel. A boom that can be raised and lowered by the movement, a bucket that is pivotally supported at the tip of the boom and can swing within a predetermined relative angle range with respect to the boom, and a rear of the swivel A boom rest on which the above-mentioned fallen boom is placed, the front end of the boom is positioned on the vehicle rear side when not working, the boom is placed on the boom rest, and the bucket is the boom The retracted posture swings to the side. The aerial work vehicle includes a turning actuator for turning the swivel base together with the boom, a hoisting actuator and a telescopic actuator for raising and lowering the boom, a swing actuator for swinging the bucket, and turning, raising and lowering the boom. An operation unit that outputs a command signal to extend and contract, a full reduction detection sensor that detects that the boom is in a full reduction state, a storage detection sensor that detects that the boom is placed on the boom rest, An angle detection sensor that detects a relative angle of the bucket with respect to the boom, and a control unit that operates the actuators based on the command signal. The control unit outputs a normal operation mode for outputting a general operation signal for operating each actuator in accordance with the command by the command signal, and a special operation signal for operating each actuator regardless of the command by the command signal. Special mode. In the special mode, when the operation unit issues the command signal, it is detected that the boom is fully reduced by the full reduction detection sensor, and is placed on the boom rest by the storage detection sensor. Is detected, and the angle detection sensor detects that the relative angle is not 0 °. The special operation signal operates the hoisting actuator until the boom stands up to a predetermined standing angle from the retracted posture, and operates the swing actuator until the relative angle of the bucket becomes 0 °.

  According to this configuration, when the control unit is operating in the normal mode, when the operation unit outputs a command signal, a general operation signal corresponding to the command signal is output from the control unit. Based on this general operation signal, the boom is raised and lowered, expanded or contracted, or turned together with the turntable. Also, at the start of work, that is, when the boom is fully shortened, laid down and placed on the boom rest, and the relative angle of the bucket to the boom is not 0 °, regardless of the type of the command signal A special operation signal is output from the control unit. That the boom is fully shortened is detected by the all-shrinkage detection sensor. The storage detection sensor detects that the boom is placed on the boom rest. The relative angle of the bucket is detected by an angle detection sensor. Then, based on the special operation signal, the boom is raised to a predetermined standing angle, and the bucket is swung until the relative angle becomes 0 ° (until the basic work posture). That is, when a command signal is output from the operation unit at the start of work, the bucket is automatically deployed to the basic work posture.

  (6) It is preferable that the special mode is implemented when the operation unit issues a command signal for raising the boom.

  In this case, the initial operation is not started unless the operator operates the operation unit with the intention of starting the initial operation. Therefore, the bucket does not operate unexpectedly for the operator, and a safer initial operation is possible.

  (7) Even when the command signal from the operation unit is interrupted when the control unit is operated in the special mode, the control unit is configured to output the special operation signal. Is preferred.

  In this configuration, once the control unit operates in the special mode, the initial operation is completed without the operator continuing to operate the operation unit thereafter. Therefore, the operator can concentrate on stabilizing his / her posture during the initial operation, and an even safer initial operation is performed.

  According to the present invention, the bucket is automatically deployed to the work basic posture by performing some operation on the operation unit at the start of work. That is, for example, even when the operator operates the operation unit with one hand, the combined operation in which the boom is automatically raised and lowered and the bucket swings is performed. Therefore, the operator can easily, safely and quickly perform the initial operation with a stable posture in the bucket.

FIG. 1 is a right side view of an aerial work vehicle 10 according to an embodiment of the present invention. FIG. 2 is a plan view of the aerial work vehicle 10. FIG. 3 is a rear view of the aerial work vehicle 10. FIG. 4 is a block diagram illustrating configurations of the control unit 28 and the operation unit 40. FIG. 5 is a flowchart showing the control in the special mode.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings as appropriate. In addition, this Embodiment is only one aspect | mode of the aerial work vehicle which concerns on this invention, and it cannot be overemphasized that an embodiment may be changed in the range which does not change the summary of this invention.

  FIG. 1 is a front view of the outfit of an aerial work vehicle 10 according to an embodiment of the present invention. 2 and 3 are a plan view and a rear view of the outfitting of the aerial work vehicle 10. These drawings show the posture of the aerial work vehicle 10 when not working.

  The aerial work vehicle 10 includes a vehicle 12 having a main frame 11 and an aerial work device having a telescopic boom 15 and a bucket 13, and the high work vehicle is mounted on the vehicle 12. A swivel base 14 is installed on the main frame 11, and an extendable boom 15 is connected to the swivel base 14. The swivel base 14 is turnable via a turn motor 34 (not shown) (refer to FIG. 4, corresponding to the “turning actuator” recited in the claims), and thereby the telescopic boom 15. Can swivel together with the swivel base 14. The aerial work vehicle 10 includes a front outrigger 26 and a rear outrigger 27, and stably grounds the vehicle 12 during work.

  In the aerial work platform 10, the swivel base 14 is disposed on the front side of the vehicle 12, and the base end portion 16 of the telescopic boom 15 is pin-coupled to the swivel base 14. Therefore, the telescopic boom 15 is rotatable with respect to the swivel base 14 and can be raised and lowered. The telescopic boom 15 is raised and lowered by a hoisting cylinder 17 (corresponding to “a hoisting actuator” described in claims). The telescopic boom 15 has a built-in telescopic cylinder 33 (refer to FIG. 4, which corresponds to “extended actuator” described in the claims), and expands or contracts when the telescopic cylinder 33 expands and contracts. .

  The bucket 13 is supported on the distal end portion 18 of the telescopic boom 15 via a support mechanism 19. The structure of the support mechanism 19 is known, and allows the bucket 13 to move up and down and swing. That is, the bucket 13 can swing in the direction of the arrow 20 in FIG. 1 and swing up and swing in the direction of the arrow 21 in FIG. This swing operation is performed by a swing motor 35 (refer to FIG. 4, corresponding to “swing actuator” described in claims). As shown in FIG. 2, the swing angle of the bucket 13 is specified by the relative angle θ between the longitudinal direction 23 of the telescopic boom 15 and the direction 24 of the bucket 13, and the bucket 13 can swing within a predetermined angle range. it can.

  As shown in FIGS. 1 and 2, in a non-working posture, the telescopic boom 15 is supported in front of the aerial work vehicle 10 and extends rearward, and the bucket 13 extends on the rear side of the vehicle 12. It is swung along the side. In this specification, the posture of the bucket 13 is referred to as a retracted posture. In this state, the relative angle is θ.

  Further, as will be described later, at the time of work, the bucket 13 is swung counterclockwise in FIG. 2, and the relative angle θ becomes 0 ° (degree). That is, the longitudinal direction 23 of the telescopic boom 15 and the direction 24 of the bucket 13 are matched. In this specification, the posture of the bucket 13 having a relative angle of 0 ° is referred to as a basic work posture.

  A leveling cylinder 22 is provided between the swivel base 14 and the telescopic boom 15. By the expansion and contraction of the leveling cylinder 22, the bucket 13 is lifted and lowered in conjunction with the raising and lowering operation of the telescopic boom 15, so that equilibrium is maintained.

  A boom rest 25 is provided behind the swivel base 14. The boom rest 25 is erected on the main frame 11. The boom rest 25 is configured such that the telescopic boom 15 that has been laid down is placed. In the retracted position, the boom rest 25 supports and stably holds the telescopic boom 15 from below.

  An operation unit 40 (see FIG. 4) not shown in FIGS. 1 to 3 is provided in the bucket 13. This operation part 40 performs the raising / lowering, expansion | extension, and turning operation | movement of the telescopic boom 15, and can output the command signal corresponding to each operation | movement.

  A control unit 28 is provided in front of the vehicle 12. The control unit 28 drives the hoisting cylinder 17 and the like based on a command signal output from the operation unit 40, and comprehensively controls the operations of the telescopic boom 15 and the bucket 13 during work.

  In the present embodiment, an all reduction detection sensor 29, a storage detection sensor 30, and an angle detection sensor 31 are provided. The total reduction detection sensor 29 is provided on the telescopic boom 15, detects the degree of extension of the telescopic boom 15, and outputs a signal indicating that particularly when it is in the total shortened state. The storage detection sensor 30 is provided on the boom rest 25 and typically employs a proximity switch. In a state where the telescopic boom 15 is placed on the boom rest 25, the storage detection sensor 30 outputs a signal indicating the storage state. The angle detection sensor 31 is provided in the support mechanism 19 and outputs a signal corresponding to the relative angle θ.

  FIG. 4 is a block diagram showing a control system of the aerial work vehicle 10. The control system of the aerial work platform 10 includes an operation unit 40, a control unit 28, and the like.

  The operation unit 40 includes an expansion / contraction / neck swing operation lever 42 and a undulation / turning operation lever 43. Each of these levers 42 and 43 is connected to the ASIC 41 via an electric circuit. When the operator operates the extend / shrink operation lever 42, a command signal for the telescopic boom 15 to perform an expansion / contraction operation is output, and a command signal for the bucket 13 to perform a swing operation is output. Further, when the operator operates the hoisting / turning operation lever 43, a command signal for the hoisting operation of the telescopic boom 15 is output, and a command signal for the swiveling base 14 performing the turning operation is output. The ASIC 41 receives the command signals output by operating the expansion / contraction / necking operation lever 42 or the raising / lowering operation lever 43, and controls various motors and the hydraulic system 32 described later based on the command signals. Control signal for output. The actual operation unit 40 has more operation levers and operation buttons according to the type of command signal to be output, but these are omitted in FIG. 4 for the sake of simplicity of explanation. Yes.

  In the control unit 28, a CPU 36, a ROM 37, and a RAM 38 are connected to an ASIC 39 via an electric circuit. Further, the control unit 28 is electrically connected to the ASIC 41 of the operation unit 40, the total reduction detection sensor 29, the storage detection sensor 30, the angle detection sensor 31, the swing motor 35, and a hydraulic system 32 described later via the ASIC 39. Has been.

  The CPU 36 is a processing device that is the core of the control unit 28. The CPU 36 executes various programs stored in the ROM 37 so that the control by the control unit 28 is executed. The RAM 38 stores numerical values, flags, etc. that are temporarily needed during the control process.

  The control unit 28 can determine the degree of extension of the telescopic boom 15 based on the signal from the total reduction detection sensor 29. Further, the control unit 28 can determine whether or not the telescopic boom 15 is placed on the boom rest 25 based on the signal of the storage detection sensor 30. Further, the control unit 28 can determine the relative angle θ of the bucket 13 based on the signal from the angle detection sensor 31. These pieces of information are temporarily stored in the RAM 38 and used by the control unit 28 to control the swing motor 35 and the hydraulic system 32.

  The control unit 28 outputs predetermined control signals to the swing motor 35, the hydraulic system 32, and the like. Here, the hydraulic system is a concept including an electromagnetic switching valve that supplies pressure oil to the telescopic cylinder 33, the hoisting cylinder 17, and the swing motor 34, in particular. The operation signal includes a general operation signal that is output when the control unit 28 is operating in the general mode, and a special operation signal that is output when the control unit 28 is operating in the special mode. The bucket 13 swings in the corresponding direction when the swing motor 35 rotates forward or backward according to the operation signal.

  The hydraulic system 32 includes a hydraulic pump (not shown), hydraulic piping, and a plurality of electromagnetic switching valves, and these constitute a hydraulic circuit together with an actuator such as a swing motor 34. Pressure oil discharged from the hydraulic pump is supplied to each actuator by an electromagnetic switching valve. The control unit 28 can operate the electromagnetic switching valve by outputting the general operation signal and the special operation signal, and can cause each actuator to perform a required operation by flowing pressure oil in a predetermined direction.

  The control unit 28 performs control in either the normal mode or the special mode. The general mode is a mode in which the control unit 28 outputs a general operation signal in response to the command signal output from the ASIC 41 of the operation unit 40. For example, in the control in the general mode, the control unit 28 outputs a general operation signal for rotating the swing motor 35 while a command signal for swinging the bucket 13 is output from the ASIC 41 of the operation unit 40. That is, in the general mode, the swing of the bucket 13 is started almost simultaneously with the start of the operation, and the swing of the bucket 13 is stopped almost simultaneously with the end of the operation. Here, the general mode has been described by taking the swing of the bucket 13 as an example, but the same control is executed even when a command signal for raising and lowering the telescopic boom 15 is output from the ASIC 41 of the operation unit 40. The

  On the other hand, the special mode is a mode in which the initial operation of the aerial work vehicle 10 is executed by automatic control. In the initial operation, the aerial work vehicle 10 arrives at the site, the outriggers 26 and 27 are projected, and the high work vehicle 10 is safely grounded, and the bucket 13 is automatically moved to a predetermined posture prior to the work. It is an operation to expand. That is, after the aerial work vehicle 10 is safely grounded at the site, the control unit 28 executes the control in the special mode at the start of work, whereby the bucket 13 is automatically deployed to the work basic posture. Once the control in the special mode is started, the control unit 28 executes a series of controls until the bucket 13 assumes the work basic posture even after the command signal from the ASIC 41 of the operation unit 40 cannot be confirmed. Here, the work basic posture is a posture in which the telescopic boom 15 stands up by a predetermined angle and the relative angle θ between the bucket 13 and the telescopic boom 15 becomes 0 °, as will be described later.

  FIG. 5 is a flowchart showing the control in the special mode.

  Hereinafter, the special mode control will be described in detail with reference to the flowchart of FIG.

[Details of special mode]

  The flowchart shown in FIG. 5 is started based on the operation of raising the telescopic boom 15 by the raising / lowering operation lever 43. With the operation of the hoisting / turning operation lever 43, the ASIC 41 of the operation unit 40 outputs a command signal corresponding to the operation. The control unit 28 that has received the command signal refers to the RAM 38 and determines whether the operating flag is ON or OFF (S10). The in-operation flag is a flag indicating that the control unit 28 is executing the special mode control. For example, the in-operation flag is a variable having a value of “1” or “0”, where “1” means that the flag is ON and “0” means that the flag is OFF. When the operating flag is ON (S10: Yes), the control unit 28 is in a state of not receiving a command signal. Therefore, the control unit 28 ends the control of the flowchart. Note that special command signals such as emergency stop may be set to be received regardless of the state of the operating flag.

  When the operating flag is OFF (S10: No), the control unit 28 determines whether or not the telescopic boom 15 is in the retracted posture (S11). Here, in order to determine whether or not the telescopic boom is in the retracted position, the control unit 28 confirms the signals of the full reduction detection sensor 29, the storage detection sensor 30, and the angle detection sensor 31, respectively.

  The control unit 28 determines whether or not the telescopic boom 15 is in a fully shortened state based on a signal from the all reduction detection sensor 29. Further, the control unit 28 determines whether or not the telescopic boom 15 is placed on the boom rest 25 based on the signal of the storage detection sensor 30. Further, the control unit 28 determines whether or not the relative angle θ of the bucket 13 is 0 ° based on the signal of the angle detection sensor 31.

  The control unit 28 has three conditions: the telescopic boom 15 is fully shortened, the telescopic boom 15 is placed on the boom rest 25, and the relative angle θ of the bucket 13 is not 0 °. When all are satisfied, it is determined that the telescopic boom 15 is in the retracted position. On the other hand, when one of the three conditions is not satisfied, the control unit 28 determines that the telescopic boom 15 is not in the retracted position.

  When it is determined that the telescopic boom 15 is not in the retracted position (S11: No), the control unit 28 executes control in the normal mode (S12). That is, the control unit 28 outputs the general operation signal to operate the hydraulic system 32. Thereby, the hoisting cylinder 17 extends and the telescopic boom 15 starts to stand up. When the command signal from the ASIC 41 of the operation unit 40 cannot be confirmed, the control unit 28 stops outputting the general operation signal. Thereby, the standing of the telescopic boom 15 is also stopped.

  On the other hand, when it is determined that the telescopic boom 15 is in the retracted position (S11: Yes), the control unit 28 starts control in the special mode. The control unit 28 turns on an operating flag indicating that the control in the special mode is being executed (S13). The special mode control (S13 to S16) described below is executed regardless of the command signal. That is, even after the command signal from the ASIC 41 of the operation unit 40 can no longer be confirmed, the control unit 28 executes the special mode control without interruption.

  The control unit 28 outputs a special operation signal that drives the electromagnetic switching valve of the hydraulic system 32. Thereby, the hoisting cylinder 17 extends and the telescopic boom 15 starts to stand up (S14). The hoisting cylinder 17 extends until the telescopic boom 15 is raised from the retracted posture by a predetermined angle (typically 5 °). As the telescopic boom 15 rises, the bucket 13 rises to a swingable height. In short, the standing angle of the telescopic boom 15 is a predetermined angle at which the bucket 13 can swing safely.

  The posture (standing angle) of the telescopic boom 15 is controlled as follows, for example. That is, a sensor (typically a potentiometer or an encoder) for detecting the standing angle of the telescopic boom 15 with respect to the swivel base 14 is provided, and the control unit 28 directly detects the standing angle of the telescopic boom 15 from the output signal of the sensor. Then, the expansion and contraction of the hoisting cylinder 17 is controlled. Alternatively, a timer built in the control unit 28 may be used. That is, the control unit 28 starts counting time based on this timer, and the control unit 28 stops the special operation signal when the predetermined time T1 stored in the RAM 38 is counted. good. As a result, the electromagnetic switching valve that operates the hoisting cylinder 17 for the time T1 is activated, and the telescopic boom 15 is raised to the predetermined angle. Further, a sensor that detects expansion and contraction of the undulation cylinder 17 may be provided around the undulation cylinder 17. In such a configuration, the control unit 28 detects the length of the undulating cylinder 17 based on the signal of the sensor, and stops the special operation signal at the timing when the length of the undulating cylinder 17 reaches a predetermined length. . Thereby, the telescopic boom 15 stands up to the predetermined angle.

  Subsequently, the control unit 28 outputs a special operation signal for driving the swing motor 35. Thereby, the bucket 13 starts a swing (S15). This special operation signal operates the swing motor 35 so that the relative angle θ becomes small. The bucket 13 swings in the direction in which the relative angle θ decreases (counterclockwise in FIG. 2). The control unit 28 always detects the relative angle θ based on the signal output from the angle detection sensor 31 and stops the special operation signal at the timing when the relative angle θ of the bucket 13 becomes 0 °. Along with this, the swing of the bucket 13 also stops. That is, the bucket 13 has a basic work posture.

  When the relative angle θ becomes 0 °, the control unit 28 turns off the operating flag stored in the RAM 38 (S16) and ends the special mode control.

[Effects of Embodiment]

  According to the present embodiment, when the telescopic boom 15 is in the retracted position at the start of work, the bucket 13 is automatically deployed to the work basic position when the operator operates the hoisting / turning operation lever 43. Therefore, the operator can easily, safely and quickly perform the initial operation with a stable posture in the bucket 13.

  Moreover, according to this embodiment, there exists an advantage that the automatic expansion | deployment of the bucket 13 can be performed using the existing sensor called the full reduction detection sensor 29, the storage detection sensor 30, and the angle detection sensor 31. FIG.

  Also, unless the operator intentionally operates the undulation / turning operation lever 43, the control in the special mode is not started. Therefore, the bucket 13 does not operate unexpectedly for the operator, and a safer initial operation is possible.

  In addition, once the control unit 28 starts the control in the special mode, the initial operation is performed because the control unit 28 continues the control in the special mode even if the operator stops the operation of the hoisting / turning operation lever 43 thereafter. Is completed. Therefore, the operator can concentrate on stabilizing his / her posture during the initial operation, and an even safer initial operation is performed.

[Modification]

  In this embodiment, when the operation of raising the telescopic boom 15 is performed by the hoisting / turning operation lever 43 and the above-described conditions (S11 and S13 in FIG. 5) are satisfied, the control unit 28 controls the special mode. Was something to do. However, the control unit 28 may execute the control in the special mode based on an operation different from the above-described embodiment. For example, the control unit 28 may execute the special mode control when the extend / shrink operation lever 42 is operated and the above-described conditions are satisfied. Further, the control unit 28 may execute the control in the special mode when either the expansion / contraction / necking operation lever 42 or the raising / lowering operation lever 43 is operated and the above-described conditions are satisfied. Alternatively, the operation unit 40 may be provided with a dedicated button or lever that causes the control unit 28 to execute control in the special mode.

  Further, the drive system for turning, raising, extending and retracting the telescopic boom 15 and swinging the bucket 13 is not limited to the swing motor 34, other actuators, the swing motor 35, and the like, and those skilled in the art appropriately determine. It can be done.

  In addition, the configuration of the control unit 28 in the above-described embodiment is an example and can be appropriately changed by those skilled in the art. For example, in the branch of step S10, the operating flag stored in the RAM 38 is referred to. However, if the same determination can be performed, it is not essential to store the operating flag in the RAM 38. For example, whether or not the special mode control is being executed may be determined based on the state of the pulse signal flowing through the circuit. Also, with respect to the flowchart of FIG. 5, it is only necessary that the control unit 28 can perform substantially the same control, and the detailed processing may be changed as appropriate.

DESCRIPTION OF SYMBOLS 10 ... Aerial work vehicle 12 ... Vehicle 13 ... Bucket 14 ... Turntable 15 ... Telescopic boom (boom)
17 ... Rolling cylinder (undulation actuator)
25 ... Boomrest 28 ... Control unit 29 ... Full reduction sensor 30 ... Storage detection sensor 31 ... Angle detection sensor 33 ... Extension cylinder (extension actuator)
34 ... Turning motor (turning actuator)
35 ... Swing motor (Swing actuator)
40 ... operation unit

Claims (7)

A telescopic boom mounted on a swivel mounted on the front side of the vehicle so as to be able to move up and down, and a bucket that is pivotally supported at the tip of the boom and can swing within a predetermined relative angle range. The boom is placed on a boom rest provided in the vehicle when not in operation, the tip of the boom is located on the rear side of the vehicle, and the bucket swings to the side of the boom. A bucket automatic deployment device applied to an aerial work vehicle that is in a retracted posture,
An operation unit for outputting a command signal for turning, raising and lowering the boom, and
A control unit for outputting a signal for operating the boom based on the command signal,
The control unit
A normal mode for outputting a general operation signal corresponding to the command by the command signal, and a special mode for outputting a special operation signal unrelated to the command by the command signal,
The special mode is performed when the boom is in the retracted posture when the operation unit issues the command signal, and the special operation signal raises the boom from the retracted posture to a predetermined standing angle. And the bucket automatic expansion | deployment apparatus which swings the said bucket until the said relative angle becomes 0 degree. A full reduction detection sensor for detecting that the boom is in a full reduction state;
A storage detection sensor for detecting that the boom is placed on the boom rest;
An angle detection sensor for detecting a relative angle of the bucket to the boom;
The bucket automatic deployment device according to claim 1, wherein the retracted posture is determined based on output signals of the all-reduction detection sensor, the storage detection sensor, and the angle detection sensor.   The bucket automatic deployment device according to claim 1, wherein the special mode is implemented when the operation unit issues a command signal for raising the boom.   The bucket automatic according to claim 1 or 2, wherein the control unit outputs the special operation signal even when a command signal from the operation unit is interrupted when the control unit operates in the special mode. Deployment device. A swivel mounted on the front side of the vehicle;
A boom that has a distal end portion and a proximal end portion, and is capable of raising and lowering and retractable by the base end portion being rotatably connected to the swivel;
A bucket pivotally supported at the tip of the boom and capable of swinging within a predetermined relative angle range with respect to the boom;
A boom rest provided at the rear of the swivel, on which the overturned boom is placed;
The aerial work vehicle has a retracted posture in which the front end of the boom is positioned on the vehicle rear side during non-working, the boom is placed on the boom rest, and the bucket swings to the side of the boom,
A turning actuator for turning the swivel base together with the boom;
A hoisting actuator and a telescopic actuator for hoisting and extending the boom, and
A swing actuator that swings the bucket;
An operation unit for outputting a command signal for turning, raising and lowering the boom, and
A full reduction detection sensor for detecting that the boom is in a full reduction state;
A storage detection sensor for detecting that the boom is placed on the boom rest;
An angle detection sensor for detecting a relative angle of the bucket to the boom;
A control unit for operating each actuator based on the command signal,
The control unit
A normal mode for outputting a general operation signal for operating each actuator in accordance with a command by the command signal, and a special mode for outputting a special operation signal for operating each actuator regardless of the command by the command signal. Have
In the special mode, when the operation unit issues the command signal, it is detected that the boom is fully reduced by the full reduction detection sensor, and is placed on the boom rest by the storage detection sensor. And when the angle detection sensor detects that the relative angle is not 0 °, the special operation signal is output from the retracted position until the boom stands up to a predetermined standing angle. An aerial work vehicle that operates a hoisting actuator and operates the swing actuator until the relative angle of the bucket reaches 0 °.   The aerial work vehicle according to claim 5, wherein the special mode is performed when the operation unit issues a command signal for raising the boom.   7. The high place according to claim 5, wherein the control unit outputs the special operation signal even when the command signal from the operation unit is interrupted when the control unit is operated in the special mode. Work vehicle.

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